Painesuodattimen automatisoidun kankaanvaihtolaitteen kehittäminen ja tekninen tuotteistaminen

Tässä työssä tarkastellaan CE-merkintään vaadittavia teknisen tuotteistamisen vaiheita käyttäen esimerkkinä painesuodattimen automatisoidun kankaanvaihtolaitteen suunnitteluprosessia. Työssä selvitetään, mitä vaihtoehtoja on painesuodattimen lisälaitteiden luokitteluksi, että ne saadaan tuotteistettua Euroopan talousalueella (ETA). Esimerkkinä käytettävä kankaanvaihtolaite on suunniteltu käyttäen järjestelmällisen koneensuunnittelun menetelmää. CE-merkinnän vaatima riskianalyysi on tehty laitteelle standardin SFS-EN ISO 12100:2010 mukaisesti. Tuloksena saatu laitteen prototyyppi täyttää pääosin laitteelle asetettavat vaatimukset. Kustannusarvio ylittää kuitenkin toivotun omakustannehinnan valoverhojen suhteellisen kalliin hinnan takia. Kustannusarvion mukaan prototyyppi voidaan kuitenkin valmistaa edullisesti, sillä valoverhot eivät ole pakollisia laitteen toiminnallisissa testeissä. Ennen tuotteistamista valoverhojen korvaamisen mahdollisuutta muulla turvatekniikalla on kuitenkin tutkittava. Suunnitteluvaiheen jälkeen laitteen turvallisuuden voidaan todeta olevan vähintään riittävällä tasolla. Riskianalyysi on kuitenkin päivitettävä dokumentti, ja laitteen turvallisuus täytyy varmistaa prototyyppiä testaamalla. Työn perusteella voidaan todeta, että huomioimalla laitteen mahdollisesti aiheuttamat vaaratilanteet jo tuotesuunnittelun alussa, voidaan tuotekehitysprosessia nopeuttaa. Tunnistamalla vaaratilanteet suunnittelun varhaisessa vaiheessa voidaan vähentää riskien määrää, ja siten tarvetta riskien pienentämiselle. Näin vähennetään rakenteen suunnittelun ja riskianalyysin iterointikierrosten määrää, jolloin myös tuotteistamisprosessi nopeutuu.

Long-term nutrient load management and lake restoration: Case of Säkylän Pyhäjärvi (SW Finland)

Eutrophication caused by anthropogenic nutrient pollution has become one of the most severe threats to water bodies. Nutrients enter water bodies from atmospheric precipitation, industrial and domestic wastewaters and surface runoff from agricultural and forest areas. As point pollution has been significantly reduced in developed countries in recent decades, agricultural non-point sources have been increasingly identified as the largest source of nutrient loading in water bodies. In this study, Lake Säkylän Pyhäjärvi and its catchment are studied as an example of a long-term, voluntary-based, co-operative model of lake and catchment management. Lake Pyhäjärvi is located in the centre of an intensive agricultural area in southwestern Finland. More than 20 professional fishermen operate in the lake area, and the lake is used as a drinking water source and for various recreational activities. Lake Pyhäjärvi is a good example of a large and shallow lake that suffers from eutrophication and is subject to measures to improve this undesired state under changing conditions. Climate change is one of the most important challenges faced by Lake Pyhäjärvi and other water bodies. The results show that climatic variation affects the amounts of runoff and nutrient loading and their timing during the year. The findings from the study area concerning warm winters and their influences on nutrient loading are in accordance with the IPCC scenarios of future climate change. In addition to nutrient reduction measures, the restoration of food chains (biomanipulation) is a key method in water quality management. The food-web structure in Lake Pyhäjärvi has, however, become disturbed due to mild winters, short ice cover and low fish catch. Ice cover that enables winter seining is extremely important to the water quality and ecosystem of Lake Pyhäjärvi, as the vendace stock is one of the key factors affecting the food web and the state of the lake. New methods for the reduction of nutrient loading and the treatment of runoff waters from agriculture, such as sand filters, were tested in field conditions. The results confirm that the filter technique is an applicable method for nutrient reduction, but further development is needed. The ability of sand filters to absorb nutrients can be improved with nutrient binding compounds, such as lime. Long-term hydrological, chemical and biological research and monitoring data on Lake Pyhäjärvi and its catchment provide a basis for water protection measures and improve our understanding of the complicated physical, chemical and biological interactions between the terrestrial and aquatic realms. In addition to measurements carried out in field conditions, Lake Pyhäjärvi and its catchment were studied using various modelling methods. In the calibration and validation of models, long-term and wide-ranging time series data proved to be valuable. Collaboration between researchers, modellers and local water managers further improves the reliability and usefulness of models. Lake Pyhäjärvi and its catchment can also be regarded as a good research laboratory from the point of view of the Baltic Sea. The main problem in both of them is eutrophication caused by excess nutrients, and nutrient loading has to be reduced – especially from agriculture. Mitigation measures are also similar in both cases.

Sellutehtaan prosessien jätevesien puhdistaminen membraanitekniikalla

Tässä työssä tarkoituksena on tutkia mahdollisuuksia sellutehtaan eri jätevesien puhdistukseen uudelleenkäyttöä varten. Yleensä tutkimuksen kohteena ovat yleensä valkaisun alkalisen suodokset, koska niiden suodattaminen on ollut helppoa membraanitekniikalla. Tässä tutkimuksessa kuitenkin kiinnostuksen kohteena ovat valkaisun happamat suodokset ja kuorimon jätevedet. Tutkimuksessa käytettiin viittä membraania, joista kolme on ultrasuodatusmembraaneja ja kaksi nanosuodatusmembraaneja. Näiden katkaisukoot ovat väillä 30 000 -200 Da. Konsentraatiosuodatukset suoritettiin CR 250 -suodattimella. Syötöstä, konsentraatista ja permeaatista otettujen näytteiden analyysien pohjalta laskettujen retentioiden perusteella nanosuodatusmembraani NF270 antoi parhaan tuloksen. Tällä membraanilla kuorimon jätevesien suodatuksessa retentioksi saatiin kaikilla osa-alueilla vähintään 80 %, mutta valkaisun happamien suodosten tulokset olivat alhaisempia. Suodatusten perusteella voitiin laskea tarvittava kapasiteetti ja suodatuspinta-ala suodatus yksiköille. Kummassakin tapauksessa suodatuksen syöttömäärät määräytyivät erään suomalaisen sellutehtaan valkaisussa ja kuorimolla syntyvien jätevesimäärien mukaan. Suodatusyksiköiden kooksi saatiin valkaisun happamien suodosten suodattamiseen 54 CR 1010 -suodatinta ja kuorimon jätevesien suodattamiseen 4 CR 1010-suodatinta.

The Combined treatment of UV Light and Titanium Dioxide (TiO2) in Grease Filtration Technique

The aim of this thesis was to identify the best grease removal technique with the application of low power of UV light to TiO2 coated grease filters. The treatment with various power series of ozone generating and ozone free lamps to normal grease filters and TiO2 coated grease filters were examined and the obtained results are compared to each other in this paper. The effect of ozone reaction was observed and compared with the effect of TiO2. The experiments were solely based on the photo oxidation and photo catalytic oxidation reactions. TiO2 is a green catalyst used in the photocatalytic reaction. Sunflower oil was used for grease production and tetracholoroethylene as a solvent. Grease samples were collected from the ventilation duct connected to the cooking hood system. Sample extraction was done in ultrasonic bath with the principle of sonication. The sample analysis was done by FTIR machine. The result determining the concentration of grease was the quantification of saturated C-H bonds in the chosen peak group of the spectrum. A very low power of UVC light functions perfectly with the Titanium dioxide. The experimental results have shown the combined treatment of titanium dioxide and UV light is an effective method in grease removal process. The photocatalytic reaction with titanium dioxide is better than photo oxidation reaction with ozone treatment. Photocatalytic reaction is environmentally friendly, energy efficient and economical.

Power semiconductor nonlinearities in active du/dt output filtering

This doctoral thesis introduces an improved control principle for active du/dt output filtering in variable-speed AC drives, together with performance comparisons with previous filtering methods. The effects of power semiconductor nonlinearities on the output filtering performance are investigated. The nonlinearities include the timing deviation and the voltage pulse waveform distortion in the variable-speed AC drive output bridge. Active du/dt output filtering (ADUDT) is a method to mitigate motor overvoltages in variable-speed AC drives with long motor cables. It is a quite recent addition to the du/dt reduction methods available. This thesis improves on the existing control method for the filter, and concentrates on the lowvoltage (below 1 kV AC) two-level voltage-source inverter implementation of the method. The ADUDT uses narrow voltage pulses having a duration in the order of a microsecond from an IGBT (insulated gate bipolar transistor) inverter to control the output voltage of a tuned LC filter circuit. The filter output voltage has thus increased slope transition times at the rising and falling edges, with an opportunity of no overshoot. The effect of the longer slope transition times is a reduction in the du/dt of the voltage fed to the motor cable. Lower du/dt values result in a reduction in the overvoltage effects on the motor terminals. Compared with traditional output filtering methods to accomplish this task, the active du/dt filtering provides lower inductance values and a smaller physical size of the filter itself. The filter circuit weight can also be reduced. However, the power semiconductor nonlinearities skew the filter control pulse pattern, resulting in control deviation. This deviation introduces unwanted overshoot and resonance in the filter. The controlmethod proposed in this thesis is able to directly compensate for the dead time-induced zero-current clamping (ZCC) effect in the pulse pattern. It gives more flexibility to the pattern structure, which could help in the timing deviation compensation design. Previous studies have shown that when a motor load current flows in the filter circuit and the inverter, the phase leg blanking times distort the voltage pulse sequence fed to the filter input. These blanking times are caused by excessively large dead time values between the IGBT control pulses. Moreover, the various switching timing distortions, present in realworld electronics when operating with a microsecond timescale, bring additional skew to the control. Left uncompensated, this results in distortion of the filter input voltage and a filter self-induced overvoltage in the form of an overshoot. This overshoot adds to the voltage appearing at the motor terminals, thus increasing the transient voltage amplitude at the motor. This doctoral thesis investigates the magnitude of such timing deviation effects. If the motor load current is left uncompensated in the control, the filter output voltage can overshoot up to double the input voltage amplitude. IGBT nonlinearities were observed to cause a smaller overshoot, in the order of 30%. This thesis introduces an improved ADUDT control method that is able to compensate for phase leg blanking times, giving flexibility to the pulse pattern structure and dead times. The control method is still sensitive to timing deviations, and their effect is investigated. A simple approach of using a fixed delay compensation value was tried in the test setup measurements. The ADUDT method with the new control algorithm was found to work in an actual motor drive application. Judging by the simulation results, with the delay compensation, the method should ultimately enable an output voltage performance and a du/dt reduction that are free from residual overshoot effects. The proposed control algorithm is not strictly required for successful ADUDT operation: It is possible to precalculate the pulse patterns by iteration and then for instance store them into a look-up table inside the control electronics. Rather, the newly developed control method is a mathematical tool for solving the ADUDT control pulses. It does not contain the timing deviation compensation (from the logic-level command to the phase leg output voltage), and as such is not able to remove the timing deviation effects that cause error and overshoot in the filter. When the timing deviation compensation has to be tuned-in in the control pattern, the precalculated iteration method could prove simpler and equally good (or even better) compared with the mathematical solution with a separate timing compensation module. One of the key findings in this thesis is the conclusion that the correctness of the pulse pattern structure, in the sense of ZCC and predicted pulse timings, cannot be separated from the timing deviations. The usefulness of the correctly calculated pattern is reduced by the voltage edge timing errors. The doctoral thesis provides an introductory background chapter on variable-speed AC drives and the problem of motor overvoltages and takes a look at traditional solutions for overvoltage mitigation. Previous results related to the active du/dt filtering are discussed. The basic operation principle and design of the filter have been studied previously. The effect of load current in the filter and the basic idea of compensation have been presented in the past. However, there was no direct way of including the dead time in the control (except for solving the pulse pattern manually by iteration), and the magnitude of nonlinearity effects had not been investigated. The enhanced control principle with the dead time handling capability and a case study of the test setup timing deviations are the main contributions of this doctoral thesis. The simulation and experimental setup results show that the proposed control method can be used in an actual drive. Loss measurements and a comparison of active du/dt output filtering with traditional output filtering methods are also presented in the work. Two different ADUDT filter designs are included, with ferrite core and air core inductors. Other filters included in the tests were a passive du/dtfilter and a passive sine filter. The loss measurements incorporated a silicon carbide diode-equipped IGBT module, and the results show lower losses with these new device technologies. The new control principle was measured in a 43 A load current motor drive system and was able to bring the filter output peak voltage from 980 V (the previous control principle) down to 680 V in a 540 V average DC link voltage variable-speed drive. A 200 m motor cable was used, and the filter losses for the active du/dt methods were 111W–126 W versus 184 W for the passive du/dt. In terms of inverter and filter losses, the active du/dt filtering method had a 1.82-fold increase in losses compared with an all-passive traditional du/dt output filter. The filter mass with the active du/dt method was 17% (2.4 kg, air-core inductors) compared with 14 kg of the passive du/dt method filter. Silicon carbide freewheeling diodes were found to reduce the inverter losses in the active du/dt filtering by 18% compared with the same IGBT module with silicon diodes. For a 200 m cable length, the average peak voltage at the motor terminals was 1050 V with no filter, 960 V for the all-passive du/dt filter, and 700 V for the active du/dt filtering applying the new control principle.

Application of cerium oxide thin films grown by atomic layer deposition for soot removal

The objective of the thesis is to study cerium oxide thin films grown by the atomic layer deposition (ALD) for soot removal. Cerium oxide is one of the most important heterogeneous catalysts and can be used in particulate filters and sensors in a diesel exhaust pipe. Its redox/oxidation properties are a key factor in soot oxidation. Thus, the cerium oxide coating can help to keep particulate filters and sensors clean permanently. The literature part of the thesis focuses on the soot removal, introducing the origin and structure of soot, reviewing emissions standards for diesel particulate matter, and presenting methods and catalysts for soot removal. In the experimental part the optimal ALD conditions for cerium oxide were found, the structural properties of cerium oxide thin films were analyzed, and the catalytic activity of the cerium oxide for soot oxidation was investigated. Studying ALD growth conditions of cerium oxide films and determining their critical thickness range are important to maximize the catalytic performance operating at comparatively low temperature. It was found that the cerium oxide film deposited at 300 °C with 2000 ALD cycles had the highest catalytic activity. Although the activity was still moderate and did not decrease the soot oxidation temperature enough for a real-life application. The cerium oxide thin film deposited at 300 °C has a different crystal structure, surface morphology and elemental composition with a higher Ce3+ concentration compared to the films deposited at lower temperatures. The different properties of the cerium oxide thin film deposited at 300 °C increase the catalytic activity most likely due to higher surface area and addition of the oxygen vacancies.

Species composition and biogeographic relations of the rock outcrop flora on the high plateau of Itatiaia, SE-Brazil

We studied the flora of vegetation islands on rock outcrops on the Itatiaia Plateau (22°21'S and 44°40'W), at 2,400 m.a.s.l. A total of 114 vascular plant species, which correspond to ca. 20%-25% of the currently inventoried flora of the plateau, were sampled in 197 small vegetation islands (total area of 0.034 ha). Xerophytes and hydrophytes were often found side by side due to environmental heterogeneity at a small scale, explaining in part the high species diversity. Rock outcrops may support floras quite distinct from those in neighbouring habitats, due to the action of strong environmental filters, but in Itatiaia the geographic distribution patterns among rupicolous plants appear to mimic those described for the whole flora around it, with 15.1% of narrow endemic species and six strictly rupicolous plants. Underlining the "temperate" nature of the high elevation climate in Itatiaia, the sampled flora was dominated by species of the families Asteraceae and Poaceae, and the number of CAM (crassulacean acid metabolism) species was very low. A few endemic species of tropical origin - Pleurostima gounelleana (Beauv.) Men. (Velloziaceae) and Fernseea itatiaiae (Wawra) Baker (Bromeliaceae) - play a crucial role in this vegetation, as pioneer mat-formers facilitating later establishment of numerous other species. Hemicryptophytes prevail in the sampled flora, while therophytes are exceptionally rare and mainly consist of opportunistic species associated with disturbances. Numerous microhabitats and strong environmental gradients in these high elevation rock outcrops afford opportunities for establishment of a highly diversified flora. These island-like environments may represent an important refuge for grassland species from fire and other disturbances in the surrounding grasslands.

Utilization of steelmaking waste materials for production of calcium carbonate (CaCO3)

The steel industry produces, besides steel, also solid mineral by-products or slags, while it emits large quantities of carbon dioxide (CO2). Slags consist of various silicates and oxides which are formed in chemical reactions between the iron ore and the fluxing agents during the high temperature processing at the steel plant. Currently, these materials are recycled in the ironmaking processes, used as aggregates in construction, or landfilled as waste. The utilization rate of the steel slags can be increased by selectively extracting components from the mineral matrix. As an example, aqueous solutions of ammonium salts such as ammonium acetate, chloride and nitrate extract calcium quite selectively already at ambient temperature and pressure conditions. After the residual solids have been separated from the solution, calcium carbonate can be precipitated by feeding a CO2 flow through the solution. Precipitated calcium carbonate (PCC) is used in different applications as a filler material. Its largest consumer is the papermaking industry, which utilizes PCC because it enhances the optical properties of paper at a relatively low cost. Traditionally, PCC is manufactured from limestone, which is first calcined to calcium oxide, then slaked with water to calcium hydroxide and finally carbonated to PCC. This process emits large amounts of CO2, mainly because of the energy-intensive calcination step. This thesis presents research work on the scale-up of the above-mentioned ammonium salt based calcium extraction and carbonation method, named Slag2PCC. Extending the scope of the earlier studies, it is now shown that the parameters which mainly affect the calcium utilization efficiency are the solid-to-liquid ratio of steel slag and the ammonium salt solvent solution during extraction, the mean diameter of the slag particles, and the slag composition, especially the fractions of total calcium, silicon, vanadium and iron as well as the fraction of free calcium oxide. Regarding extraction kinetics, slag particle size, solid-to-liquid ratio and molar concentration of the solvent solution have the largest effect on the reaction rate. Solvent solution concentrations above 1 mol/L NH4Cl cause leaching of other elements besides calcium. Some of these such as iron and manganese result in solution coloring, which can be disadvantageous for the quality of the PCC product. Based on chemical composition analysis of the produced PCC samples, however, the product quality is mainly similar as in commercial products. Increasing the novelty of the work, other important parameters related to assessment of the PCC quality, such as particle size distribution and crystal morphology are studied as well. As in traditional PCC precipitation process, the ratio of calcium and carbonate ions controls the particle shape; a higher value for [Ca2+]/[CO32-] prefers precipitation of calcite polymorph, while vaterite forms when carbon species are present in excess. The third main polymorph, aragonite, is only formed at elevated temperatures, above 40-50 °C. In general, longer precipitation times cause transformation of vaterite to calcite or aragonite, but also result in particle agglomeration. The chemical equilibrium of ammonium and calcium ions and dissolved ammonia controlling the solution pH affects the particle sizes, too. Initial pH of 12-13 during the carbonation favors nonagglomerated particles with a diameter of 1 μm and smaller, while pH values of 9-10 generate more agglomerates of 10-20 μm. As a part of the research work, these findings are implemented in demonstrationscale experimental process setups. For the first time, the Slag2PCC technology is tested in scale of ~70 liters instead of laboratory scale only. Additionally, design of a setup of several hundreds of liters is discussed. For these purposes various process units such as inclined settlers and filters for solids separation, pumps and stirrers for material transfer and mixing as well as gas feeding equipment are dimensioned and developed. Overall emissions reduction of the current industrial processes and good product quality as the main targets, based on the performed partial life cycle assessment (LCA), it is most beneficial to utilize low concentration ammonium salt solutions for the Slag2PCC process. In this manner the post-treatment of the products does not require extensive use of washing and drying equipment, otherwise increasing the CO2 emissions of the process. The low solvent concentration Slag2PCC process causes negative CO2 emissions; thus, it can be seen as a carbon capture and utilization (CCU) method, which actually reduces the anthropogenic CO2 emissions compared to the alternative of not using the technology. Even if the amount of steel slag is too small for any substantial mitigation of global warming, the process can have both financial and environmental significance for individual steel manufacturers as a means to reduce the amounts of emitted CO2 and landfilled steel slag. Alternatively, it is possible to introduce the carbon dioxide directly into the mixture of steel slag and ammonium salt solution. The process would generate a 60-75% pure calcium carbonate mixture, the remaining 25-40% consisting of the residual steel slag. This calcium-rich material could be re-used in ironmaking as a fluxing agent instead of natural limestone. Even though this process option would require less process equipment compared to the Slag2PCC process, it still needs further studies regarding the practical usefulness of the products. Nevertheless, compared to several other CO2 emission reduction methods studied around the world, the within this thesis developed and studied processes have the advantage of existing markets for the produced materials, thus giving also a financial incentive for applying the technology in practice.

Inhibitory effects in the detection of 1 cpd jo targets superimposed to angular frequency stimuli or sinewave gratings

Independence among channels processing different aspects of spatial information, including orthogonal stimuli, has been generally assumed in the literature. We tested independence between the processing of jo targets and the processing of either vertical sinusoidal gratings or angular frequency stimuli with suprathreshold summation. We found the detection of a jo target at 1 cpd to be affected in an inhibitory fashion by either background angular frequencies in the range of 3-96 cycles or sinewave gratings in the range of 0.8-3.0 cpd. These results demonstrate interactions both among orthogonal stimuli and among channels processing vertical sinewave gratings and jo target stimuli. Our discussion focuses on the hypothesis of frequency decomposition in polar coordinates

Virtuaalisimuloinnin käytettävyys PF-suodattimien hydraulijärjestelmien koulutuksessa, analysoinnissa ja vianmäärityksessä

Tämän työn tavoitteena oli luoda koulutusmateriaalia PF-suodattimien hydraulijärjestelmien koulutusta varten sekä selvittää Automation Studio-ohjelmiston soveltuvuutta PF-suodattimien analysointiin ja vianmääritykseen. Työssä tutkittiin myös aktivoivien koulutusmenetelmien vaikutusta oppimisprosessiin. Työn tärkeimpinä tuloksina saatiin opetusvideot PF-suodattimien hydraulijärjestelmissä käytettävistä peruskomponenteista sekä järjestelmien toimintaa kuvaavat opetusvideot. Työssä käytettyä mallinnus- ja simulointiohjelmistoa ei voida nykyisellä ohjelmaversiolla täysin soveltaa PF-suodattimien vianmääritykseen tai analysointiin. Työssä selvennettiin menestyksekkään vianmäärityksen ja analysoinnin kannalta tarvittavat laajennustarpeet ohjelmistoon. Koulutuksesta kerätyn palautteen perusteella opetusvideot yhdistettynä aktivoiviin koulutusmenetelmiin helpottavat PF-suodattimien hydraulijärjestelmien koulutusta sekä edistävät oppimisprosessia. Aktivoivia koulutusmenetelmiä voidaan pitää erityisesti soveltuvina aikuiskoulutukseen.

Suodattimen simulointi Aspen Plus simulointiohjelmistolla

Tässä työssä tutkittiin Aspen Plus-ohjelmiston soveltuvuutta suodattimen simulointiin. Tämän työn kirjallisuusosassa on esitelty eri suodatusmekanismit sekä joitain prosessisimulointiin soveltuvia ohjelmistoja lähdekirjallisuuden perusteella. Kokeellisessa osassa on tutkittu Aspen Plus-ohjelmiston soveltuvuutta suodattimen simuloimiseen. Simulointi suoritettiin käyttäen Aspenin suodatinmoduulin suunnittelumallia. Lähtökohtana käytettiin buchnersuppilolla ZnS-suspensiolle tehtyä koesuodatusta, jonka perusteella saatiin lähtöparametrien, kuten kakun- ja kankaan vastusten arvot. Simuloinnissa mitoitettiin samalle kapasiteetille rumpusuodatin, jonka suodatuspinta-alaa ja kiintoainekakun tilavuutta verrattiin koesuodatuksen vastaaviin arvoihin. Lisäksi vastaava simulointi suoritettiin filtration-and-separation.com sivuston omaa vakiopaineisen vakuumisuodattimen simulointiin tarkoitettua laskentapohjaa käyttäen, jonka tuloksia verrattiin myös Aspenilla saatuihin simulointituloksiin.

Post-processing and analysis of tracked hand trajectories

In this thesis, the suitability of different trackers for finger tracking in high-speed videos was studied. Tracked finger trajectories from the videos were post-processed and analysed using various filtering and smoothing methods. Position derivatives of the trajectories, speed and acceleration were extracted for the purposes of hand motion analysis. Overall, two methods, Kernelized Correlation Filters and Spatio-Temporal Context Learning tracking, performed better than the others in the tests. Both achieved high accuracy for the selected high-speed videos and also allowed real-time processing, being able to process over 500 frames per second. In addition, the results showed that different filtering methods can be applied to produce more appropriate velocity and acceleration curves calculated from the tracking data. Local Regression filtering and Unscented Kalman Smoother gave the best results in the tests. Furthermore, the results show that tracking and filtering methods are suitable for high-speed hand-tracking and trajectory-data post-processing.

Global Spare Parts Supply Chain Analysis

In today’s global industrial service business, markets are dynamic and finding new ways of value creation towards customers has become more and more challenging. Customer orientation is needed because of the demanding after-sales business which is both quickly changing and stochastic in nature. In after-sales business customers require fast and reliable service for their spare part needs. This thesis objective is to clarify this challenging after-sales business environment and find ways to increase customer satisfaction via balanced measurement system which will help to find possible targets to reduce order cycle times in a large metal and mineral company Outotec (Filters)’ Spare Part Supply business line. In case study, internal documents and data and numerical calculations together with qualitative interviews with different persons in key roles of Spare Part Supply organizations are used to analyze the performance of different processes from the spare parts delivery function. The chosen performance measurement tool is Balanced Scorecard which is slightly modified to suit the lead time study from customer’s perspective better. Findings show that many different processes in spare parts supply are facing different kind of challenges in achieving the lead time levels wanted and that these processes’ problems seem to accumulate. Findings also show that putting effort in supply side challenges and information flows visibility should give the best results.

Adaptive Markov chain Monte Carlo and Bayesian filtering for state space models

This thesis is concerned with the state and parameter estimation in state space models. The estimation of states and parameters is an important task when mathematical modeling is applied to many different application areas such as the global positioning systems, target tracking, navigation, brain imaging, spread of infectious diseases, biological processes, telecommunications, audio signal processing, stochastic optimal control, machine learning, and physical systems. In Bayesian settings, the estimation of states or parameters amounts to computation of the posterior probability density function. Except for a very restricted number of models, it is impossible to compute this density function in a closed form. Hence, we need approximation methods. A state estimation problem involves estimating the states (latent variables) that are not directly observed in the output of the system. In this thesis, we use the Kalman filter, extended Kalman filter, Gauss–Hermite filters, and particle filters to estimate the states based on available measurements. Among these filters, particle filters are numerical methods for approximating the filtering distributions of non-linear non-Gaussian state space models via Monte Carlo. The performance of a particle filter heavily depends on the chosen importance distribution. For instance, inappropriate choice of the importance distribution can lead to the failure of convergence of the particle filter algorithm. In this thesis, we analyze the theoretical Lᵖ particle filter convergence with general importance distributions, where p ≥2 is an integer. A parameter estimation problem is considered with inferring the model parameters from measurements. For high-dimensional complex models, estimation of parameters can be done by Markov chain Monte Carlo (MCMC) methods. In its operation, the MCMC method requires the unnormalized posterior distribution of the parameters and a proposal distribution. In this thesis, we show how the posterior density function of the parameters of a state space model can be computed by filtering based methods, where the states are integrated out. This type of computation is then applied to estimate parameters of stochastic differential equations. Furthermore, we compute the partial derivatives of the log-posterior density function and use the hybrid Monte Carlo and scaled conjugate gradient methods to infer the parameters of stochastic differential equations. The computational efficiency of MCMC methods is highly depend on the chosen proposal distribution. A commonly used proposal distribution is Gaussian. In this kind of proposal, the covariance matrix must be well tuned. To tune it, adaptive MCMC methods can be used. In this thesis, we propose a new way of updating the covariance matrix using the variational Bayesian adaptive Kalman filter algorithm.

Teollinen öljyn erotus koalesenssisuodatuksella väliaineessa

Koalesenssi on ilmiö, jossa dispergoidun faasin pisarat pyrkivät muodostamaan suurempia pisaroita kunnes erotettava faasi muodostuu. Koalesenssi tapahtuu kolmessa päävaiheessa, jotka ovat lähestyminen, kiinnittyminen ja irrotus. Lähestymiseen vaikuttavat mekanismit ovat muuan muassa sieppaus, diffuusio, törmäysvaikutus, sedimentaatio, sähköiset repul-siovoimat ja van der Waalsin voimat. Kiinnittymisvaiheessa dispergoidun faasin pisarat syrjäyttävät väliaineen nestekalvon samalla kostuttaen väliaineen pinnan. Irrotusvaiheessa pisaran hydrodynaaminen voima voittaa pisaran ja väliaineen välisen adheesiovoiman. Koalesenssin tehokkuuteen vaikuttavat useat eri parametrit kuten virtausnopeus, pedin ominaisuudet, väliaineen ominaisuudet sekä emulsion ominaisuudet. Nämä kaikki asiat tulee ottaa huomioon koalesenssisuodatuksen suunnittelussa. Koalesenssisuodatus lukeutuu syväsuodatusmenetelmiin, jotka on ollut käytössä jo yli 100 vuotta. Koalesenssisuodatusmenetelmä on tehokas menetelmä pienten pisaroiden erottami-seen. Menetelmää käytetään esimerkiksi öljyisten jätevesien puhdistuksessa. Teollisen öljyn syväsuodatuksen etuihin kuuluu muun muassa sen kompakti koko, alhaisemmat käyt-tökustannukset, korkea erotusaste, kyky erotella pienetkin pisarat sekä helppo operointi, automatisointi ja huolto. Suurin haittapuoli on kuitenkin väliaineen tukkeutuminen, joten prosessi vaatii puhdistuksen tai väliaineen uusimisen. Tämän kandidaatintyön tarkoituksena oli koota kirjallisuustyö öljyn koalesenssisuodatuk-sesta. Työssä kartoitettiin koalesenssisuodatuksen lähtökohdat, teoria, tärkeimmät teolli-suuden sovellukset sekä väliaineet.